| 摘要 |
PROBLEM TO BE SOLVED: To control the fingertip part of a robot so as to follow a set target track and to effectively reduce the deviation of an actual track of the robot with respect to the set target track. SOLUTION: A CPU of the robot controller sets a halfway target point by subdividing the target track for each prescribed sampling time and outputs a positional command (an angle command) Pt so as to move the fingertip part of a robot body to the halfway target point. The position of the fingertip part of the robot body from the current time (k) to the time ahead by a prescribed sampling time (k+n) is estimated by using a model. A correction value for the positional command is calculated after obtaining the deviation between the estimated position and the target track. The current positional command Pt(k) is corrected by the calculated correction value. A perpendicular vector Pαdrawn on the target track from the estimated position of the fingertip part of the robot body is made as the correction value. COPYRIGHT: (C)2006,JPO&NCIPI
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